	.file "D:\\Mes Documents\\Programmation\\Drone\\MatrixPilotQuad\\MPQpid400.X\\..\\motorCntrl.c"
	.section	.debug_abbrev,info
.Ldebug_abbrev0:
	.section	.debug_info,info
.Ldebug_info0:
	.section	.debug_line,info
.Ldebug_line0:
	.section	.text,code
.Ltext0:
	.global	_current_flight_mode	; export
	.section	.ndata,data,near
	.align	2
	.type	_current_flight_mode,@object
_current_flight_mode:
	.skip	2
	.global	_motorsArmed	; export
	.align	2
	.type	_motorsArmed,@object
_motorsArmed:
	.skip	2
	.global	_desired_heading	; export
	.align	2
	.type	_desired_heading,@object
_desired_heading:
	.skip	2
	.global	_rate_error_prev	; export
	.align	2
	.type	_rate_error_prev,@object
_rate_error_prev:
	.skip	4
	.global	_rate_error_dot	; export
	.align	2
	.type	_rate_error_dot,@object
_rate_error_dot:
	.skip	4
	.global	_yaw_error_previous	; export
	.align	2
	.type	_yaw_error_previous,@object
_yaw_error_previous:
	.skip	2
	.global	_roll_error_integral	; export
	.align	2
	.type	_roll_error_integral,@object
_roll_error_integral:
	.skip	4
	.global	_pitch_error_integral	; export
	.align	2
	.type	_pitch_error_integral,@object
_pitch_error_integral:
	.skip	4
	.global	_rrate_error_integral	; export
	.align	2
	.type	_rrate_error_integral,@object
_rrate_error_integral:
	.skip	4
	.global	_prate_error_integral	; export
	.align	2
	.type	_prate_error_integral,@object
_prate_error_integral:
	.skip	4
	.global	_yaw_error_integral	; export
	.align	2
	.type	_yaw_error_integral,@object
_yaw_error_integral:
	.skip	4
	.global	_altHoldPrec	; export
	.align	2
	.type	_altHoldPrec,@object
_altHoldPrec:
	.skip	2
	.global	_commanded_altitude	; export
	.align	2
	.type	_commanded_altitude,@object
_commanded_altitude:
	.skip	2
	.global	_altitudePrec	; export
	.align	2
	.type	_altitudePrec,@object
_altitudePrec:
	.skip	2
	.global	_altitude_error	; export
	.align	2
	.type	_altitude_error,@object
_altitude_error:
	.skip	2
	.global	_altitude_control	; export
	.align	2
	.type	_altitude_control,@object
_altitude_control:
	.skip	2
	.global	_vitesse	; export
	.align	2
	.type	_vitesse,@object
_vitesse:
	.skip	2
	.global	_altitude_error_integral	; export
	.align	2
	.type	_altitude_error_integral,@object
_altitude_error_integral:
	.skip	2
	.section	.text,code
	.align	2
	.global	_rotate2D	; export
	.type	_rotate2D,@function
_rotate2D:
.LFB7:
.LM1:
	.set ___PA___,1
	lnk	#10
	mov	w0,[w14+4]
	mov	w1,[w14+6]
	mov.b	w2,[w14+8]
.LM2:
	mov	[w14+4],w0
	mov	[w0],w0
	mov	w0,[w14]
.LM3:
	mov	[w14+6],w0
	mov	[w0],w0
	mov	w0,[w14+2]
.LM4:
	mov.b	[w14+8],w1
	mov	w14,w0
	call	_rotate
.LM5:
	mov	[w14],w1
	mov	[w14+4],w0
	mov	w1,[w0]
.LM6:
	mov	[w14+2],w1
	mov	[w14+6],w0
	mov	w1,[w0]
.LM7:
	ulnk	
	return	
	.set ___PA___,0
.LFE7:
	.align	2
	.global	_deadBand	; export
	.type	_deadBand,@function
_deadBand:
.LFB8:
.LM8:
	.set ___PA___,1
	lnk	#4
	mov	w0,[w14]
	mov	w1,[w14+2]
.LM9:
	mov	[w14],w0
	mov	[w0],w1
	mov	[w14+2],w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	lt,.L4
.LM10:
	mov	[w14],w0
	mov	[w0],w1
	mov	[w14+2],w0
	sub	w1,w0,w1
	mov	[w14],w0
	mov	w1,[w0]
	bra	.L9
.L4:
.LM11:
	mov	[w14],w0
	mov	[w0],w1
	mov	[w14+2],w0
	neg	w0,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gt,.L7
.LM12:
	mov	[w14],w0
	mov	[w0],w1
	mov	[w14+2],w0
	add	w1,w0,w1
	mov	[w14],w0
	mov	w1,[w0]
	bra	.L9
.L7:
.LM13:
	mov	[w14],w1
	clr	w0
	mov	w0,[w1]
.L9:
.LM14:
	ulnk	
	return	
	.set ___PA___,0
.LFE8:
	.align	2
	.global	_magClamp	; export
	.type	_magClamp,@function
_magClamp:
.LFB9:
.LM15:
	.set ___PA___,1
	lnk	#4
	mov	w0,[w14]
	mov	w1,[w14+2]
.LM16:
	mov	[w14],w0
	mov	[w0],w1
	mov	[w14+2],w0
	neg	w0,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	ge,.L11
.LM17:
	mov	[w14+2],w0
	neg	w0,w1
	mov	[w14],w0
	mov	w1,[w0]
	bra	.L15
.L11:
.LM18:
	mov	[w14],w0
	mov	[w0],w1
	mov	[w14+2],w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	le,.L15
.LM19:
	mov	[w14],w0
	mov	[w14+2],w1
	mov	w1,[w0]
.L15:
.LM20:
	ulnk	
	return	
	.set ___PA___,0
.LFE9:
	.align	2
	.global	_magClamp32	; export
	.type	_magClamp32,@function
_magClamp32:
.LFB10:
.LM21:
	.set ___PA___,1
	lnk	#6
	mov	w0,[w14]
	mov	w2,[w14+2]
	mov	w3,[w14+4]
.LM22:
	mov	[w14],w0
	mov.d	[w0],w2
	mov	[w14+2],w0
	mov	[w14+4],w1
	subr	w0,#0,w0
	subbr	w1,#0,w1
	sub	w2,w0,[w15]
	subb	w3,w1,[w15]
	.set ___BP___,0
	bra	ge,.L17
.LM23:
	mov	[w14+2],w0
	mov	[w14+4],w1
	subr	w0,#0,w0
	subbr	w1,#0,w1
	mov	[w14],w2
	mov.d	w0,[w2]
	bra	.L21
.L17:
.LM24:
	mov	[w14],w0
	mov.d	[w0],w2
	mov	[w14+2],w0
	mov	[w14+4],w1
	sub	w2,w0,[w15]
	subb	w3,w1,[w15]
	.set ___BP___,0
	bra	le,.L21
.LM25:
	mov	[w14],w0
	mov	[w14+2],w2
	mov	[w14+4],w3
	mov.d	w2,[w0]
.L21:
.LM26:
	ulnk	
	return	
	.set ___PA___,0
.LFE10:
	.global	_throttle_limit	; export
	.section	.ndata,data,near
	.align	2
	.type	_throttle_limit,@object
_throttle_limit:
	.word	-6554
	.section	.text,code
	.align	2
	.global	_motorCntrl	; export
	.type	_motorCntrl,@function
_motorCntrl:
.LFB11:
.LM27:
	.set ___PA___,1
	lnk	#48
	mov.d	w8,[w15++]
.LM28:
	mov	#_rmat,w0
	mov	w0,[w14+24]
.LM29:
	mov	#_omega,w0
	mov	w0,[w14+22]
.LM30:
	clr	w0
	mov	w0,[w14+6]
.LM31:
	mov	_primary_voltage+2,w0
	mov	w0,w1
	mov	_lowVoltageWarning,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	geu,.L23
.LM32:
	mov	#-19661,w0
	mov	w0,_throttle_limit
	bra	.L25
.L23:
.LM33:
	mov	_primary_voltage+2,w0
	mov	w0,w1
	mov	_lowVoltageWarning,w0
	add	#500,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	leu,.L25
.LM34:
	mov	#-6554,w0
	mov	w0,_throttle_limit
.L25:
.LM35:
	clr	w0
	mov	w0,[w14+20]
	bra	.L27
.L28:
.LM36:
	mov	_udb_flags,w0
	mov	#32,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L29
.LM37:
	mov	[w14+20],w0
	sub	w0,#3,[w15]
	.set ___BP___,0
	bra	nz,.L31
.LM38:
	mov	[w14+20],w0
	add	w0,w0,w1
	mov	#_udb_pwIn,w0
	add	w1,w0,w0
	mov	[w0],w2
	mov	[w14+20],w0
	add	w0,w0,w1
	mov	#_udb_pwTrim,w0
	add	w1,w0,w0
	mov	[w0],w0
	sub	w2,w0,w0
	mov	w0,w1
	mov	_throttle_limit,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM39:
	mov	[w14+20],w3
	mov	[w14+28],w0
	mov	w0,w2
	mov	[w14+20],w0
	add	w0,w0,w1
	mov	#_udb_pwTrim,w0
	add	w1,w0,w0
	mov	[w0],w0
	add	w2,w0,w0
	mov	w0,w2
	add	w3,w3,w1
	mov	#_pwManual,w0
	add	w1,w0,w0
	mov	w2,[w0]
	bra	.L34
.L31:
.LM40:
	mov	[w14+20],w2
	mov	[w14+20],w0
	add	w0,w0,w1
	mov	#_udb_pwIn,w0
	add	w1,w0,w0
	mov	[w0],w0
	mov	w0,w3
	add	w2,w2,w1
	mov	#_pwManual,w0
	add	w1,w0,w0
	mov	w3,[w0]
	bra	.L34
.L29:
.LM41:
	mov	[w14+20],w2
	mov	[w14+20],w0
	add	w0,w0,w1
	mov	#_udb_pwTrim,w0
	add	w1,w0,w0
	mov	[w0],w0
	mov	w0,w3
	add	w2,w2,w1
	mov	#_pwManual,w0
	add	w1,w0,w0
	mov	w3,[w0]
.L34:
.LM42:
	mov	[w14+20],w0
	inc	w0,w0
	mov	w0,[w14+20]
.L27:
	mov	[w14+20],w0
	sub	w0,#4,[w15]
	.set ___BP___,0
	bra	le,.L28
.LM43:
	mov.b	_didCalibrate,WREG
	cp0.b	w0
	.set ___BP___,0
	bra	nz,.L36
.LM44:
	mov	_udb_pwIn+6,w0
	mov	w0,_udb_pwOut+2
.LM45:
	mov	_udb_pwIn+6,w0
	mov	w0,_udb_pwOut+4
.LM46:
	mov	_udb_pwIn+6,w0
	mov	w0,_udb_pwOut+6
.LM47:
	mov	_udb_pwIn+6,w0
	mov	w0,_udb_pwOut+8
	bra	.L80
.L36:
.LM48:
	mov	_motorsArmed,w0
	sub	w0,#1,[w15]
	.set ___BP___,0
	bra	gt,.L39
.LM49:
	mov	_udb_pwTrim+6,w0
	mov	w0,_udb_pwOut+2
.LM50:
	mov	_udb_pwTrim+6,w0
	mov	w0,_udb_pwOut+4
.LM51:
	mov	_udb_pwTrim+6,w0
	mov	w0,_udb_pwOut+6
.LM52:
	mov	_udb_pwTrim+6,w0
	mov	w0,_udb_pwOut+8
.LM53:
	mov	_motorsArmed,w0
	mov	w0,[w14+44]
	mov	[w14+44],w2
	cp0	w2
	.set ___BP___,0
	bra	z,.L42
	mov	[w14+44],w4
	sub	w4,#1,[w15]
	.set ___BP___,0
	bra	z,.L43
	bra	.L80
.L42:
.LM54:
	mov	_pwManual+6,w0
	mov	w0,w1
	mov	_udb_pwTrim+6,w0
	sub	w1,w0,w1
	mov	#500,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	leu,.L80
.LM55:
	mov	#1,w0
	mov	w0,_motorsArmed
.LM56:
	bra	.L80
.L43:
.LM57:
	mov	_pwManual+6,w0
	mov	w0,w1
	mov	_udb_pwTrim+6,w0
	sub	w1,w0,w1
	mov	#99,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gtu,.L80
.LM58:
	mov	#2,w0
	mov	w0,_motorsArmed
.LM59:
	bclr.b	_LATEbits,#1
	bra	.L80
.L39:
.LM60:
	mov	_pwManual+6,w0
	mov	w0,w1
	mov	_udb_pwTrim+6,w0
	sub	w1,w0,w1
	mov	#99,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gtu,.L47
.LM61:
	mov	_pwManual+6,w0
	mov	w0,[w14+18]
.LM62:
	mov	_pwManual+6,w2
	mov	w2,[w14+16]
.LM63:
	mov	_pwManual+6,w4
	mov	w4,[w14+14]
.LM64:
	mov	_pwManual+6,w0
	mov	w0,[w14+12]
.LM65:
	mov	_pwManual+2,w0
	mov	w0,w1
	mov	_udb_pwTrim+2,w0
	sub	w1,w0,w0
	mov	w0,_commanded_roll
.LM66:
	mov	_pwManual+4,w0
	mov	w0,w1
	mov	_udb_pwTrim+4,w0
	sub	w1,w0,w0
	mov	w0,_commanded_pitch
.LM67:
	mov	_pwManual+8,w0
	mov	w0,w1
	mov	_udb_pwTrim+8,w0
	sub	w1,w0,w0
	mov	w0,_commanded_yaw
.LM68:
	mov	[w14+24],w0
	add	w0,#8,w0
	mov	[w0],w0
	mov	w0,_matrix_accum
.LM69:
	mov	[w14+24],w0
	inc2	w0,w0
	mov	[w0],w0
	mov	w0,_matrix_accum+2
.LM70:
	mov	#_matrix_accum,w0
	call	_rect_to_polar16
	mov	w0,_earth_yaw
.LM71:
	mov	_earth_yaw,w0
	mov	w0,_desired_heading
.LM72:
	mov	_commanded_pitch,w2
	mov	w2,[w14+8]
.LM73:
	mov	_commanded_roll,w4
	mov	w4,[w14+10]
.LM74:
	mov	_commanded_yaw,w1
	mov	[w14+8],w0
	sub	w1,w0,w1
	mov	[w14+18],w0
	add	w0,w1,w0
	mov	w0,[w14+18]
.LM75:
	mov	_commanded_yaw,w0
	neg	w0,w1
	mov	[w14+10],w0
	sub	w1,w0,w1
	mov	[w14+16],w0
	add	w0,w1,w0
	mov	w0,[w14+16]
.LM76:
	mov	_commanded_yaw,w1
	mov	[w14+8],w0
	add	w1,w0,w1
	mov	[w14+14],w0
	add	w0,w1,w0
	mov	w0,[w14+14]
.LM77:
	mov	_commanded_yaw,w1
	mov	[w14+10],w0
	sub	w0,w1,w1
	mov	[w14+12],w0
	add	w0,w1,w0
	mov	w0,[w14+12]
.LM78:
	mov	[w14+18],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+2
.LM79:
	mov	[w14+16],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+4
.LM80:
	mov	[w14+14],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+6
.LM81:
	mov	[w14+12],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+8
	bra	.L80
.L47:
.LBB2:
.LM82:
	mov	[w14+24],w0
	add	w0,#8,w0
	mov	[w0],w0
	mov	w0,_matrix_accum
.LM83:
	mov	[w14+24],w0
	inc2	w0,w0
	mov	[w0],w0
	mov	w0,_matrix_accum+2
.LM84:
	mov	#_matrix_accum,w0
	call	_rect_to_polar16
	mov	w0,_earth_yaw
.LM85:
	mov	_flight_mode,w1
	mov	_current_flight_mode,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	z,.L49
.LM86:
	mov	_flight_mode,w0
	mov	w0,_current_flight_mode
.LM87:
	mov	_IMUcmx+2,w0
	mov	w0,_pos_setpoint
.LM88:
	mov	_IMUcmy+2,w0
	mov	w0,_pos_setpoint+2
.L49:
.LM89:
	mov	_pos_setpoint,w1
	mov	_IMUcmx+2,w0
	sub	w1,w0,w0
	mov	w0,_pos_error
.LM90:
	mov	_pos_setpoint+2,w1
	mov	_IMUcmy+2,w0
	sub	w1,w0,w0
	mov	w0,_pos_error+2
.LM91:
	mov	_IMUcmx,w2
	mov	_IMUcmx+2,w3
	mov	_pos_prev,w0
	mov	_pos_prev+2,w1
	sub	w2,w0,w0
	subb	w3,w1,w1
	mov	w0,_pos_delta
	mov	w1,_pos_delta+2
.LM92:
	mov	_IMUcmy,w2
	mov	_IMUcmy+2,w3
	mov	_pos_prev+4,w0
	mov	_pos_prev+4+2,w1
	sub	w2,w0,w0
	subb	w3,w1,w1
	mov	w0,_pos_delta+4
	mov	w1,_pos_delta+4+2
.LM93:
	mov	_IMUcmx,w0
	mov	_IMUcmx+2,w1
	mov	w0,_pos_prev
	mov	w1,_pos_prev+2
.LM94:
	mov	_IMUcmy,w0
	mov	_IMUcmy+2,w1
	mov	w0,_pos_prev+4
	mov	w1,_pos_prev+4+2
.LM95:
	mov	_udb_pwIn+16,w1
	mov	#-2000,w0
	add	w1,w0,w0
	lsr	w0,#5,w0
	mov	w0,[w14+6]
.LM96:
	mov	[w14+6],w0
	mov	w0,[w14+46]
	mov	[w14+46],w2
	cp0	w2
	.set ___BP___,0
	bra	ge,.L51
	clr	w4
	mov	w4,[w14+46]
.L51:
	mov	[w14+46],w0
	mov	w0,[w14+6]
.LM97:
	mov	_pos_error,w0
	mul.su	w0,#10,w0
	mov	w0,_pos_perr
.LM98:
	mov	[w14+6],w1
	mov	#200,w0
	mul.ss	w1,w0,w0
	mul.su	w0,#1,w8
	mov	_pos_delta,w6
	mov	_pos_delta+2,w7
	mov	w8,w1
	mov	w6,w0
	mul.uu	w1,w0,w4
	mul.ss	w8,w7,w0
	mov	w5,w2
	add	w2,w0,w2
	mul.ss	w6,w9,w0
	add	w2,w0,w2
	mov	w2,w5
	asr	w5,#0,w0
	asr	w0,#15,w1
	mov	w0,_pos_derr
.LM99:
	mov	_pos_perr,w1
	mov	_pos_derr,w0
	sub	w1,w0,w0
	mov	w0,_poscmd_east
.LM100:
	mov	_pos_error+2,w0
	mul.su	w0,#10,w0
	mov	w0,_pos_perr+2
.LM101:
	mov	[w14+6],w1
	mov	#200,w0
	mul.ss	w1,w0,w0
	mul.su	w0,#1,w8
	mov	_pos_delta+4,w6
	mov	_pos_delta+4+2,w7
	mov	w8,w1
	mov	w6,w0
	mul.uu	w1,w0,w4
	mul.ss	w8,w7,w0
	mov	w5,w2
	add	w2,w0,w2
	mul.ss	w6,w9,w0
	add	w2,w0,w2
	mov	w2,w5
	asr	w5,#0,w0
	asr	w0,#15,w1
	mov	w0,_pos_derr+2
.LM102:
	mov	_pos_perr+2,w1
	mov	_pos_derr+2,w0
	sub	w1,w0,w0
	mov	w0,_poscmd_north
.LM103:
	mov	#4000,w1
	mov	#_poscmd_east,w0
	call	_magClamp
.LM104:
	mov	#4000,w1
	mov	#_poscmd_north,w0
	call	_magClamp
.LM105:
	mov	_flight_mode,w0
	sub	w0,#2,[w15]
	.set ___BP___,0
	bra	nz,.L52
.LM106:
	mov	_pwManual+2,w0
	mov	w0,w1
	mov	_udb_pwTrim+2,w0
	sub	w1,w0,w0
	sl	w0,#4,w1
	mov	_poscmd_east,w0
	add	w1,w0,w0
	mov	w0,_commanded_roll
.LM107:
	mov	_pwManual+4,w0
	mov	w0,w1
	mov	_udb_pwTrim+4,w0
	sub	w1,w0,w0
	sl	w0,#4,w1
	mov	_poscmd_north,w0
	add	w1,w0,w0
	mov	w0,_commanded_pitch
.LM108:
	mov	_earth_yaw,w0
	neg	w0,w0
	lsr	w0,#8,w0
	mov.b	w0,w2
	mov	#_commanded_pitch,w1
	mov	#_commanded_roll,w0
	call	_rotate2D
	bra	.L54
.L52:
.LM109:
	mov	_flight_mode,w0
	sub	w0,#1,[w15]
	.set ___BP___,0
	bra	nz,.L55
.LM110:
	mov	_pwManual+2,w0
	mov	w0,w1
	mov	_udb_pwTrim+2,w0
	sub	w1,w0,w0
	sl	w0,#4,w0
	mov	w0,_commanded_roll
.LM111:
	mov	_pwManual+4,w0
	mov	w0,w1
	mov	_udb_pwTrim+4,w0
	sub	w1,w0,w0
	sl	w0,#4,w0
	mov	w0,_commanded_pitch
.LM112:
	mov	_earth_yaw,w0
	neg	w0,w0
	lsr	w0,#8,w0
	mov.b	w0,w2
	mov	#_commanded_pitch,w1
	mov	#_commanded_roll,w0
	call	_rotate2D
	bra	.L54
.L55:
.LM113:
	mov	_pwManual+2,w0
	mov	w0,w1
	mov	_udb_pwTrim+2,w0
	sub	w1,w0,w0
	sl	w0,#4,w0
	mov	w0,_commanded_roll
.LM114:
	mov	_pwManual+4,w0
	mov	w0,w1
	mov	_udb_pwTrim+4,w0
	sub	w1,w0,w0
	sl	w0,#4,w0
	mov	w0,_commanded_pitch
.L54:
.LM115:
	mov	_pwManual+8,w0
	mov	w0,w1
	mov	_udb_pwTrim+8,w0
	sub	w1,w0,w0
	mov	w0,_commanded_yaw
.LM116:
	mov	#50,w1
	mov	#_commanded_yaw,w0
	call	_deadBand
.LM117:
	mov	_commanded_pitch,w2
	mov	w2,[w14+8]
.LM118:
	mov	_commanded_roll,w4
	mov	w4,[w14+10]
.LM119:
	mov	_commanded_yaw,w0
	mov	w0,[w14+42]
	mov	[w14+42],w0
	cp0	w0
	.set ___BP___,0
	bra	ge,.L57
	mov	[w14+42],w2
	neg	w2,w2
	mov	w2,[w14+42]
.L57:
	mov	[w14+42],w4
	cp0	w4
	.set ___BP___,0
	bra	le,.L58
.LM120:
	mov	_earth_yaw,w0
	mov	w0,_desired_heading
.LM121:
	mov	_commanded_yaw,w0
	sl	w0,#5,w0
	mov	w0,_yaw_error
	bra	.L60
.L58:
.LM122:
	mov	_earth_yaw,w1
	mov	_desired_heading,w0
	sub	w1,w0,w0
	mov	w0,_yaw_error
.L60:
.LM123:
	mov	_flight_mode,w0
	sub	w0,#1,[w15]
	.set ___BP___,0
	bra	nz,.L61
.LM124:
	mov	_earth_yaw,w0
	mov	w0,w1
	mov	#-909,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	lt,.L63
	mov	_earth_yaw,w0
	mov	w0,w1
	mov	#909,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gt,.L63
.LM125:
	call	_tail_light_on
.LM126:
	bra	.L61
.L63:
.LM127:
	call	_tail_light_off
.L61:
.LM128:
	mov	_accelEarth+4,w1
	mov	_pid_gains+20,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM129:
	mov	[w14+28],w0
	mov	w0,_accel_feedback
.LM130:
	mov	_udb_flags,w1
	mov	#128,w0
	and	w1,w0,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L66
.LM131:
	mov	_udb_flags,w0
	mov	#64,w1
	and	w0,w1,w0
	cp0	w0
	.set ___BP___,0
	bra	z,.L68
.LM132:
	bclr.b	_udb_flags,#6
.LM133:
	mov	_altHoldPrec,w0
	cp0	w0
	.set ___BP___,0
	bra	nz,.L70
.LM134:
	mov	_altitude,w0
	mov	w0,_commanded_altitude
.LM135:
	mov	_altitude,w0
	mov	w0,_altitudePrec
.LM136:
	mov	_pwManual+6,w0
	mov	w0,_altitude_error_integral
.LM137:
	mov	_altitude_error_integral,w1
	mov	#3100,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	le,.L70
.LM138:
	mov	#3000,w0
	mov	w0,_altitude_error_integral
.L70:
.LM139:
	mov	#1,w0
	mov	w0,_altHoldPrec
.LM140:
	mov	_altitude,w1
	mov	_altitudePrec,w0
	sub	w1,w0,w0
	mov	w0,_vitesse
.LM141:
	mov	_altitude,w0
	mov	w0,_altitudePrec
.LM142:
	mov	_commanded_altitude,w1
	mov	_altitude,w0
	sub	w1,w0,w0
	mov	w0,_altitude_error
.LM143:
	mov	_altitude_error,w0
	add	w0,w0,w0
	mov	w0,_altitude_control
.LM144:
	mov	_altitude_control,w0
	mov	#8,w2
	repeat	#18-1
	div.sw	w0,w2
	mov	w0,_altitude_control
.LM145:
	mov	_altitude_control,w1
	mov	_altitude_error_integral,w0
	add	w1,w0,w0
	mov	w0,_altitude_control
.LM146:
	mov	_altitude_control,w1
	mov	#3100,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	le,.L73
	mov	#3100,w0
	mov	w0,_altitude_control
	bra	.L68
.L73:
.LM147:
	mov	_altitude_control,w1
	mov	#2599,w0
	sub	w1,w0,[w15]
	.set ___BP___,0
	bra	gt,.L68
	mov	#2600,w0
	mov	w0,_altitude_control
.L68:
.LM148:
	mov	_altitude_control,w0
	mov	_accel_feedback,w1
	sub	w0,w1,w0
	mov	w0,[w14+12]
	mov	[w14+12],w0
	mov	w0,[w14+14]
	mov	[w14+14],w2
	mov	w2,[w14+16]
	mov	[w14+16],w4
	mov	w4,[w14+18]
.LM149:
	mov	[w14+18],w0
	call	_setAltCtrlDebug
	bra	.L76
.L66:
.LM150:
	clr	w0
	mov	w0,_altHoldPrec
.LM151:
	clr	w0
	mov	w0,_altitude_control
.LM152:
	mov	_pwManual+6,w1
	mov	_accel_feedback,w0
	sub	w1,w0,w0
	mov	w0,[w14+12]
	mov	[w14+12],w0
	mov	w0,[w14+14]
	mov	[w14+14],w2
	mov	w2,[w14+16]
	mov	[w14+16],w4
	mov	w4,[w14+18]
.L76:
.LM153:
	mov	_flight_mode,w0
	sub	w0,#3,[w15]
	.set ___BP___,0
	bra	nz,.L77
.LM154:
	mov	[w14+10],w0
	asr	w0,#2,w1
	mov	[w14+22],w0
	inc2	w0,w0
	mov	[w0],w0
	sub	w1,w0,w1
	mov	_pid_gains+22,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM155:
	mov	[w14+28],w0
	mov	w0,_rate_error
.LM156:
	mov	[w14+8],w0
	asr	w0,#2,w1
	mov	[w14+22],w0
	mov	[w0],w0
	sub	w1,w0,w1
	mov	_pid_gains+22,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM157:
	mov	[w14+28],w0
	mov	w0,_rate_error+2
	bra	.L79
.L77:
.LM158:
	mov	[w14+24],w0
	add	w0,#12,w0
	mov	[w0],w1
	mov	[w14+10],w0
	add	w1,w0,w0
	mov	w0,_roll_error
.LM159:
	mov	[w14+24],w0
	add	w0,#14,w0
	mov	[w0],w1
	mov	[w14+8],w0
	sub	w0,w1,w0
	mov	w0,_pitch_error
.LM160:
	mov	_roll_error_integral,w2
	mov	_roll_error_integral+2,w3
	mov	_roll_error,w1
	mov	_pid_gains+12,w0
	mul.us	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_roll_error_integral
	mov	w1,_roll_error_integral+2
.LM161:
	mov	#0,w2
	mov	#500,w3
	mov	#_roll_error_integral,w0
	call	_magClamp32
.LM162:
	mov	_pitch_error_integral,w2
	mov	_pitch_error_integral+2,w3
	mov	_pitch_error,w1
	mov	_pid_gains+12,w0
	mul.us	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_pitch_error_integral
	mov	w1,_pitch_error_integral+2
.LM163:
	mov	#0,w2
	mov	#500,w3
	mov	#_pitch_error_integral,w0
	call	_magClamp32
.LM164:
	mov	_roll_error,w1
	mov	_pid_gains,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM165:
	mov	[w14+28],w0
	mov	w0,_rate_desired
.LM166:
	clr	w0
	mov	w0,_rate_desired_delta
.LM167:
	mov	_rate_desired,w0
	mov	w0,_rate_desired_prev
.LM168:
	mov	_rate_desired_delta,w1
	mov	_pid_gains+26,w0
	mul.us	w0,w1,w0
	sl	w1,#2,w2
	lsr	w0,#14,w1
	ior	w2,w1,w1
	sl	w0,#2,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM169:
	mov	[w14+28],w0
	mov	w0,_rate_des_damping
.LM170:
	mov	_rate_des_damping,w1
	mov	_rate_desired,w0
	add	w1,w0,w1
	mov	[w14+22],w0
	inc2	w0,w0
	mov	[w0],w0
	sub	w1,w0,w0
	mov	w0,_rate_error
.LM171:
	mov	_rate_error,w1
	mov	_roll_error_integral+2,w0
	add	w1,w0,w0
	mov	w0,_rate_error
.LM172:
	mov	_pitch_error,w1
	mov	_pid_gains+2,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM173:
	mov	[w14+28],w0
	mov	w0,_rate_desired+2
.LM174:
	clr	w0
	mov	w0,_rate_desired_delta+2
.LM175:
	mov	_rate_desired+2,w0
	mov	w0,_rate_desired_prev+2
.LM176:
	mov	_rate_desired_delta+2,w1
	mov	_pid_gains+28,w0
	mul.us	w0,w1,w0
	sl	w1,#2,w4
	lsr	w0,#14,w1
	ior	w4,w1,w1
	sl	w0,#2,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM177:
	mov	[w14+28],w0
	mov	w0,_rate_des_damping+2
.LM178:
	mov	_rate_des_damping+2,w1
	mov	_rate_desired+2,w0
	add	w1,w0,w1
	mov	[w14+22],w0
	mov	[w0],w0
	sub	w1,w0,w0
	mov	w0,_rate_error+2
.LM179:
	mov	_rate_error+2,w1
	mov	_pitch_error_integral+2,w0
	add	w1,w0,w0
	mov	w0,_rate_error+2
.L79:
.LM180:
	mov	_rrate_error_integral,w2
	mov	_rrate_error_integral+2,w3
	mov	_rate_error,w1
	mov	_pid_gains+24,w0
	mul.us	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_rrate_error_integral
	mov	w1,_rrate_error_integral+2
.LM181:
	mov	#0,w2
	mov	#500,w3
	mov	#_rrate_error_integral,w0
	call	_magClamp32
.LM182:
	mov	_rate_error,w1
	mov	_rrate_error_integral+2,w0
	add	w1,w0,w0
	mov	w0,_rate_error
.LM183:
	mov	_prate_error_integral,w2
	mov	_prate_error_integral+2,w3
	mov	_rate_error+2,w1
	mov	_pid_gains+24,w0
	mul.us	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_prate_error_integral
	mov	w1,_prate_error_integral+2
.LM184:
	mov	#0,w2
	mov	#500,w3
	mov	#_prate_error_integral,w0
	call	_magClamp32
.LM185:
	mov	_rate_error+2,w1
	mov	_prate_error_integral+2,w0
	add	w1,w0,w0
	mov	w0,_rate_error+2
.LM186:
	clr	w0
	mov	w0,_rate_error_dot
.LM187:
	clr	w0
	mov	w0,_rate_error_dot+2
.LM188:
	mov	_rate_error,w0
	mov	w0,_rate_error_prev
.LM189:
	mov	_rate_error+2,w0
	mov	w0,_rate_error_prev+2
.LM190:
	mov	_rate_error,w1
	mov	_pid_gains+4,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM191:
	mov	[w14+28],w0
	mov	w0,_roll_control
.LM192:
	mov	_rate_error_dot+2,w1
	mov	_pid_gains+8,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM193:
	mov	[w14+28],w1
	mov	_roll_control,w0
	add	w1,w0,w0
	mov	w0,_roll_control
.LM194:
	mov	_rate_error+2,w1
	mov	_pid_gains+6,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM195:
	mov	[w14+28],w0
	mov	w0,_pitch_control
.LM196:
	mov	_rate_error_dot,w1
	mov	_pid_gains+10,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM197:
	mov	[w14+28],w1
	mov	_pitch_control,w0
	add	w1,w0,w0
	mov	w0,_pitch_control
.LM198:
	mov	_yaw_error_integral,w2
	mov	_yaw_error_integral+2,w3
	mov	_yaw_error,w1
	mov	_pid_gains+14,w0
	mul.us	w0,w1,w0
	sl	w1,#8,w4
	lsr	w0,#8,w0
	ior	w4,w0,w0
	asr	w1,#8,w1
	add	w0,w2,w0
	addc	w1,w3,w1
	mov	w0,_yaw_error_integral
	mov	w1,_yaw_error_integral+2
.LM199:
	mov	#0,w2
	mov	#500,w3
	mov	#_yaw_error_integral,w0
	call	_magClamp32
.LM200:
	mov	_yaw_error,w1
	mov	_pid_gains+16,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM201:
	mov	[w14+28],w1
	mov	[w14+22],w0
	add	w0,#4,w0
	mov	[w0],w0
	sub	w1,w0,w0
	mov	w0,_rate_error+4
.LM202:
	mov	_rate_error+4,w1
	mov	_yaw_error_integral+2,w0
	add	w1,w0,w0
	mov	w0,_rate_error+4
.LM203:
	mov	_rate_error+4,w1
	mov	_pid_gains+18,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+26]
	mov	w1,[w14+28]
.LM204:
	mov	[w14+28],w0
	mov	w0,_yaw_control
.LM205:
	mov	#300,w1
	mov	#_yaw_control,w0
	call	_magClamp
.LM206:
	mov	[w14+22],w0
	add	w0,#4,w0
	mov	[w0],w1
	mov	#57,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+30]
	mov	w1,[w14+32]
.LM207:
	mov	[w14+30],w0
	mov	[w14+32],w1
	call	__Q16atan
	mov	w0,[w14+2]
	mov	w1,[w14+4]
.LM208:
	mov	[w14+2],w0
	mov	[w14+4],w1
	sl	w1,#14,w2
	lsr	w0,#2,w0
	ior	w2,w0,w0
	asr	w1,#2,w1
	mov	w0,w1
	setm	w0
	and	w1,w0,[w14]
.LM209:
	neg	[w14],w1
	mov	#20860,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+34]
	mov	w1,[w14+36]
.LM210:
	mov	[w14+36],w0
	asr	w0,#6,w0
	mov.b	w0,w1
	setm.b	w0
	and.b	w1,w0,w0
	mov.b	WREG,_precessBC
.LM211:
	mov	[w14+22],w0
	add	w0,#4,w0
	mov	[w0],w1
	mov	#164,w0
	mul.us	w0,w1,w0
	mov	w0,[w14+38]
	mov	w1,[w14+40]
.LM212:
	mov	[w14+40],w0
	mov.b	w0,w1
	setm.b	w0
	and.b	w1,w0,w0
	mov.b	WREG,_lagBC
.LM213:
	mov	_roll_control,w0
	mov	w0,_rolladvanced
.LM214:
	mov	_pitch_control,w0
	mov	w0,_pitchadvanced
.LM215:
	mov	#_lagBC,w2
	mov.b	[w2],w2
	mov	#_pitchadvanced,w1
	mov	#_rolladvanced,w0
	call	_rotate2D
.LM216:
	mov	#300,w1
	mov	#_rolladvanced,w0
	call	_magClamp
.LM217:
	mov	#300,w1
	mov	#_pitchadvanced,w0
	call	_magClamp
.LM218:
	mov	_yaw_control,w1
	mov	_pitchadvanced,w0
	sub	w1,w0,w1
	mov	[w14+18],w0
	add	w0,w1,w0
	mov	w0,[w14+18]
.LM219:
	mov	_yaw_control,w0
	neg	w0,w1
	mov	_rolladvanced,w0
	sub	w1,w0,w1
	mov	[w14+16],w0
	add	w0,w1,w0
	mov	w0,[w14+16]
.LM220:
	mov	_yaw_control,w1
	mov	_pitchadvanced,w0
	add	w1,w0,w1
	mov	[w14+14],w0
	add	w0,w1,w0
	mov	w0,[w14+14]
.LM221:
	mov	_rolladvanced,w1
	mov	_yaw_control,w0
	sub	w1,w0,w1
	mov	[w14+12],w0
	add	w0,w1,w0
	mov	w0,[w14+12]
.LM222:
	mov	[w14+18],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+2
.LM223:
	mov	[w14+16],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+4
.LM224:
	mov	[w14+14],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+6
.LM225:
	mov	[w14+12],w0
	asr	w0,#15,w1
	call	_udb_servo_pulsesat
	mov	w0,_udb_pwOut+8
.L80:
.LBE2:
.LM226:
	mov.d	[--w15],w8
	ulnk	
	return	
	.set ___PA___,0
.LFE11:
	.align	2
	.type	_tail_light_off,@function
_tail_light_off:
.LFB5:
.LM227:
	.set ___PA___,1
	lnk	#0
.LM228:
	bset.b	_LATDbits,#4
.LM229:
	ulnk	
	return	
	.set ___PA___,0
.LFE5:
	.align	2
	.type	_tail_light_on,@function
_tail_light_on:
.LFB4:
.LM230:
	.set ___PA___,1
	lnk	#0
.LM231:
	bclr.b	_LATDbits,#4
.LM232:
	ulnk	
	return	
	.set ___PA___,0
.LFE4:
	.section	.nbss,bss,near
	.type	_pid_gains,@object
	.global	_pid_gains
	.align	2
_pid_gains:	.space	30
	.type	_roll_control,@object
	.global	_roll_control
	.align	2
_roll_control:	.space	2
	.type	_pitch_control,@object
	.global	_pitch_control
	.align	2
_pitch_control:	.space	2
	.type	_rolladvanced,@object
	.global	_rolladvanced
	.align	2
_rolladvanced:	.space	2
	.type	_pitchadvanced,@object
	.global	_pitchadvanced
	.align	2
_pitchadvanced:	.space	2
	.type	_lagBC,@object
	.global	_lagBC
_lagBC:	.space	1
	.type	_precessBC,@object
	.global	_precessBC
_precessBC:	.space	1
	.type	_yaw_control,@object
	.global	_yaw_control
	.align	2
_yaw_control:	.space	2
	.type	_pitch_step,@object
	.global	_pitch_step
	.align	2
_pitch_step:	.space	2
	.type	_matrix_accum,@object
	.global	_matrix_accum
	.align	2
_matrix_accum:	.space	4
	.type	_earth_yaw,@object
	.global	_earth_yaw
	.align	2
_earth_yaw:	.space	2
	.type	_accel_feedback,@object
	.global	_accel_feedback
	.align	2
_accel_feedback:	.space	2
	.type	_pwManual,@object
	.global	_pwManual
	.align	2
_pwManual:	.space	10
	.type	_commanded_roll,@object
	.global	_commanded_roll
	.align	2
_commanded_roll:	.space	2
	.type	_commanded_pitch,@object
	.global	_commanded_pitch
	.align	2
_commanded_pitch:	.space	2
	.type	_commanded_yaw,@object
	.global	_commanded_yaw
	.align	2
_commanded_yaw:	.space	2
	.type	_roll_error,@object
	.global	_roll_error
	.align	2
_roll_error:	.space	2
	.type	_pitch_error,@object
	.global	_pitch_error
	.align	2
_pitch_error:	.space	2
	.type	_yaw_error,@object
	.global	_yaw_error
	.align	2
_yaw_error:	.space	2
	.type	_rate_error,@object
	.global	_rate_error
	.align	2
_rate_error:	.space	6
	.type	_rate_desired_delta,@object
	.global	_rate_desired_delta
	.align	2
_rate_desired_delta:	.space	6
	.type	_rate_desired_prev,@object
	.global	_rate_desired_prev
	.align	2
_rate_desired_prev:	.space	6
	.type	_rate_desired,@object
	.global	_rate_desired
	.align	2
_rate_desired:	.space	6
	.type	_rate_des_damping,@object
	.global	_rate_des_damping
	.align	2
_rate_des_damping:	.space	6
	.type	_poscmd_north,@object
	.global	_poscmd_north
	.align	2
_poscmd_north:	.space	2
	.type	_poscmd_east,@object
	.global	_poscmd_east
	.align	2
_poscmd_east:	.space	2
	.type	_pos_error,@object
	.global	_pos_error
	.align	2
_pos_error:	.space	6
	.type	_pos_setpoint,@object
	.global	_pos_setpoint
	.align	2
_pos_setpoint:	.space	6
	.type	_pos_prev,@object
	.global	_pos_prev
	.align	2
_pos_prev:	.space	12
	.type	_pos_delta,@object
	.global	_pos_delta
	.align	2
_pos_delta:	.space	12
	.type	_pos_perr,@object
	.global	_pos_perr
	.align	2
_pos_perr:	.space	6
	.type	_pos_derr,@object
	.global	_pos_derr
	.align	2
_pos_derr:	.space	6
	.section	.debug_frame,info
.Lframe0:
	.4byte	.LECIE0-.LSCIE0
.LSCIE0:
	.4byte	0xffffffff
	.byte	0x1
	.byte	0
	.uleb128 0x1
	.sleb128 2
	.byte	0x21
	.byte	0xc
	.uleb128 0xf
	.uleb128 0xfffffffc
	.byte	0x9
	.uleb128 0x21
	.uleb128 0xf
.LECIE0:
.LSFDE0:
	.4byte	.LEFDE0-.LASFDE0
.LASFDE0:
	.4byte	.Lframe0
	.4byte	.LFB7
	.4byte	.LFE7-.LFB7
.LEFDE0:
.LSFDE2:
	.4byte	.LEFDE2-.LASFDE2
.LASFDE2:
	.4byte	.Lframe0
	.4byte	.LFB8
	.4byte	.LFE8-.LFB8
.LEFDE2:
.LSFDE4:
	.4byte	.LEFDE4-.LASFDE4
.LASFDE4:
	.4byte	.Lframe0
	.4byte	.LFB9
	.4byte	.LFE9-.LFB9
.LEFDE4:
.LSFDE6:
	.4byte	.LEFDE6-.LASFDE6
.LASFDE6:
	.4byte	.Lframe0
	.4byte	.LFB10
	.4byte	.LFE10-.LFB10
.LEFDE6:
.LSFDE8:
	.4byte	.LEFDE8-.LASFDE8
.LASFDE8:
	.4byte	.Lframe0
	.4byte	.LFB11
	.4byte	.LFE11-.LFB11
.LEFDE8:
.LSFDE10:
	.4byte	.LEFDE10-.LASFDE10
.LASFDE10:
	.4byte	.Lframe0
	.4byte	.LFB5
	.4byte	.LFE5-.LFB5
.LEFDE10:
.LSFDE12:
	.4byte	.LEFDE12-.LASFDE12
.LASFDE12:
	.4byte	.Lframe0
	.4byte	.LFB4
	.4byte	.LFE4-.LFB4
.LEFDE12:
	.section	.text,code
.Letext0:
	.section	.debug_line,info
	.4byte	.LELT0-.LSLT0
.LSLT0:
	.2byte	0x2
	.4byte	.LELTP0-.LASLTP0
.LASLTP0:
	.byte	0x1
	.byte	0x1
	.byte	0xf6
	.byte	0xf5
	.byte	0xa
	.byte	0x0
	.byte	0x1
	.byte	0x1
	.byte	0x1
	.byte	0x1
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.byte	0x1
	.ascii	".."
	.byte 0
	.ascii	"../../libDCM"
	.byte 0
	.ascii	"../MPQpid400.X"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../include/leg"
	.ascii	"a-c"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../support/dsP"
	.ascii	"IC33F/h"
	.byte 0
	.ascii	"c:/program files (x86)/microchip/mplab c30/bin/bin/../../support/gen"
	.ascii	"eric/h"
	.byte 0
	.byte	0x0
	.asciz	"libq.h"
	.uleb128 0x6
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"stdint.h"
	.uleb128 0x4
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"p33FJ256GP710A.h"
	.uleb128 0x5
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"../../libUDB/libUDB_defines.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"yvals.h"
	.uleb128 0x4
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"stdlib.h"
	.uleb128 0x4
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"dsp.h"
	.uleb128 0x6
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"../libUDB/libUDB.h"
	.uleb128 0x2
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libDCM_defines.h"
	.uleb128 0x2
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"libDCM.h"
	.uleb128 0x2
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"motorCntrl.c"
	.uleb128 0x1
	.uleb128 0x0
	.uleb128 0x0
	.asciz	"config_AeroQuad.h"
	.uleb128 0x3
	.uleb128 0x0
	.uleb128 0x0
	.byte	0x0
.LELTP0:
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM1
	.byte	0x4
	.uleb128 0xb
	.byte	0x6c
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM2
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM3
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM4
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM5
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM6
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM7
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM8
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM9
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM10
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM11
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM12
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM13
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM14
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM15
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM16
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM17
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM18
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM19
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM20
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM21
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM22
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM23
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM24
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM25
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM26
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM27
	.byte	0x22
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM28
	.byte	0x1c
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM29
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM30
	.byte	0x28
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM31
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM32
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM33
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM34
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM35
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM36
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM37
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM38
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM39
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM40
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM41
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM42
	.byte	0xa
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM43
	.byte	0x22
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM44
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM45
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM46
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM47
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM48
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM49
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM50
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM51
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM52
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM53
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM54
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM55
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM56
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM57
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM58
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM59
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM60
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM61
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM62
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM63
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM64
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM65
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM66
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM67
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM68
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM69
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM70
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM71
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM72
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM73
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM74
	.byte	0x1c
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM75
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM76
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM77
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM78
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM79
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM80
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM81
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM82
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM83
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM84
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM85
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM86
	.byte	0x16
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM87
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM88
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM89
	.byte	0x1e
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM90
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM91
	.byte	0x17
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM92
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM93
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM94
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM95
	.byte	0x1b
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM96
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM97
	.byte	0x18
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM98
	.byte	0x15
	.byte	0x0
	.uleb128 0x5
	.byte	0x2
	.4byte	.LM99
	.byte	0x15
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	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATD10"
	.byte	0x3
	.2byte	0x9ae
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x5
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATD11"
	.byte	0x3
	.2byte	0x9af
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x4
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATD12"
	.byte	0x3
	.2byte	0x9b0
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x3
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATD13"
	.byte	0x3
	.2byte	0x9b1
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x2
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATD14"
	.byte	0x3
	.2byte	0x9b2
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x1
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATD15"
	.byte	0x3
	.2byte	0x9b3
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x10
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.byte	0x0
	.uleb128 0x7
	.asciz	"LATDBITS"
	.byte	0x3
	.2byte	0x9b4
	.4byte	0x156
	.uleb128 0x5
	.4byte	0x379
	.asciz	"tagLATEBITS"
	.byte	0x2
	.byte	0x3
	.2byte	0x9d2
	.uleb128 0x6
	.asciz	"LATE0"
	.byte	0x3
	.2byte	0x9d3
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xf
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE1"
	.byte	0x3
	.2byte	0x9d4
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xe
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE2"
	.byte	0x3
	.2byte	0x9d5
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xd
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE3"
	.byte	0x3
	.2byte	0x9d6
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xc
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE4"
	.byte	0x3
	.2byte	0x9d7
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xb
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE5"
	.byte	0x3
	.2byte	0x9d8
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xa
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE6"
	.byte	0x3
	.2byte	0x9d9
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x9
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x6
	.asciz	"LATE7"
	.byte	0x3
	.2byte	0x9da
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x8
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.byte	0x0
	.uleb128 0x7
	.asciz	"LATEBITS"
	.byte	0x3
	.2byte	0x9db
	.4byte	0x2c3
	.uleb128 0x8
	.4byte	0x3b0
	.asciz	"ww"
	.byte	0x4
	.byte	0x4
	.byte	0x1d
	.uleb128 0x9
	.asciz	"W0"
	.byte	0x4
	.byte	0x1d
	.4byte	0xf7
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x9
	.asciz	"W1"
	.byte	0x4
	.byte	0x1d
	.4byte	0xf7
	.byte	0x2
	.byte	0x23
	.uleb128 0x2
	.byte	0x0
	.uleb128 0xa
	.4byte	0x3d3
	.asciz	"longww"
	.byte	0x4
	.byte	0x4
	.byte	0x21
	.uleb128 0xb
	.asciz	"WW"
	.byte	0x4
	.byte	0x21
	.4byte	0xbf
	.uleb128 0xb
	.asciz	"_"
	.byte	0x4
	.byte	0x21
	.4byte	0x38a
	.byte	0x0
	.uleb128 0x3
	.asciz	"boolean"
	.byte	0x4
	.byte	0xac
	.4byte	0x3e2
	.uleb128 0x2
	.asciz	"char"
	.byte	0x1
	.byte	0x6
	.uleb128 0x8
	.4byte	0x476
	.asciz	"udb_flag_bits"
	.byte	0x2
	.byte	0x4
	.byte	0xb8
	.uleb128 0xc
	.asciz	"unused"
	.byte	0x4
	.byte	0xb9
	.4byte	0x120
	.byte	0x2
	.byte	0x4
	.byte	0xc
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xc
	.asciz	"a2d_read"
	.byte	0x4
	.byte	0xba
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xb
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xc
	.asciz	"radio_on"
	.byte	0x4
	.byte	0xbb
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0xa
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xc
	.asciz	"telemeter_updated"
	.byte	0x4
	.byte	0xbc
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x9
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0xc
	.asciz	"alt_hold"
	.byte	0x4
	.byte	0xbd
	.4byte	0x120
	.byte	0x2
	.byte	0x1
	.byte	0x8
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.byte	0x0
	.uleb128 0x2
	.asciz	"short unsigned int"
	.byte	0x2
	.byte	0x7
	.uleb128 0x3
	.asciz	"fractional"
	.byte	0x7
	.byte	0x5c
	.4byte	0xf7
	.uleb128 0xd
	.byte	0x2
	.4byte	0x48c
	.uleb128 0xa
	.4byte	0x4cd
	.asciz	"udb_fbts_byte"
	.byte	0x2
	.byte	0x8
	.byte	0xa1
	.uleb128 0xb
	.asciz	"_"
	.byte	0x8
	.byte	0xa1
	.4byte	0x3ea
	.uleb128 0xb
	.asciz	"B"
	.byte	0x8
	.byte	0xa1
	.4byte	0xcb
	.byte	0x0
	.uleb128 0x8
	.4byte	0x4f9
	.asciz	"relative2D"
	.byte	0x4
	.byte	0x9
	.byte	0x1b
	.uleb128 0x9
	.asciz	"x"
	.byte	0x9
	.byte	0x1b
	.4byte	0xf7
	.byte	0x2
	.byte	0x23
	.uleb128 0x0
	.uleb128 0x9
	.asciz	"y"
	.byte	0x9
	.byte	0x1b
	.4byte	0xf7
	.byte	0x2
	.byte	0x23
	.uleb128 0x2
	.byte	0x0
	.uleb128 0x2
	.asciz	"float"
	.byte	0x4
	.byte	0x4
	.uleb128 0xe
	.4byte	0x554
	.byte	0x1
	.asciz	"rotate2D"
	.byte	0xb
	.byte	0x59
	.byte	0x1
	.4byte	.LFB7
	.4byte	.LFE7
	.byte	0x1
	.byte	0x5e
	.uleb128 0xf
	.asciz	"x"
	.byte	0xb
	.byte	0x59
	.4byte	0x554
	.byte	0x2
	.byte	0x7e
	.sleb128 4
	.uleb128 0xf
	.asciz	"y"
	.byte	0xb
	.byte	0x59
	.4byte	0x554
	.byte	0x2
	.byte	0x7e
	.sleb128 6
	.uleb128 0xf
	.asciz	"angle"
	.byte	0xb
	.byte	0x59
	.4byte	0xd9
	.byte	0x2
	.byte	0x7e
	.sleb128 8
	.uleb128 0x10
	.asciz	"xy"
	.byte	0xb
	.byte	0x5a
	.4byte	0x4cd
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.byte	0x0
	.uleb128 0xd
	.byte	0x2
	.4byte	0xf7
	.uleb128 0xe
	.4byte	0x596
	.byte	0x1
	.asciz	"deadBand"
	.byte	0xb
	.byte	0x63
	.byte	0x1
	.4byte	.LFB8
	.4byte	.LFE8
	.byte	0x1
	.byte	0x5e
	.uleb128 0xf
	.asciz	"input"
	.byte	0xb
	.byte	0x63
	.4byte	0x554
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.uleb128 0xf
	.asciz	"band"
	.byte	0xb
	.byte	0x63
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.byte	0x0
	.uleb128 0xe
	.4byte	0x5ce
	.byte	0x1
	.asciz	"magClamp"
	.byte	0xb
	.byte	0x6c
	.byte	0x1
	.4byte	.LFB9
	.4byte	.LFE9
	.byte	0x1
	.byte	0x5e
	.uleb128 0xf
	.asciz	"in"
	.byte	0xb
	.byte	0x6c
	.4byte	0x554
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.uleb128 0xf
	.asciz	"mag"
	.byte	0xb
	.byte	0x6c
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.byte	0x0
	.uleb128 0xe
	.4byte	0x608
	.byte	0x1
	.asciz	"magClamp32"
	.byte	0xb
	.byte	0x73
	.byte	0x1
	.4byte	.LFB10
	.4byte	.LFE10
	.byte	0x1
	.byte	0x5e
	.uleb128 0xf
	.asciz	"in"
	.byte	0xb
	.byte	0x73
	.4byte	0x608
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.uleb128 0xf
	.asciz	"mag"
	.byte	0xb
	.byte	0x73
	.4byte	0xbf
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.byte	0x0
	.uleb128 0xd
	.byte	0x2
	.4byte	0xbf
	.uleb128 0xe
	.4byte	0x77e
	.byte	0x1
	.asciz	"motorCntrl"
	.byte	0xb
	.byte	0x86
	.byte	0x1
	.4byte	.LFB11
	.4byte	.LFE11
	.byte	0x1
	.byte	0x5e
	.uleb128 0x10
	.asciz	"prmat"
	.byte	0xb
	.byte	0x8e
	.4byte	0x49e
	.byte	0x2
	.byte	0x7e
	.sleb128 24
	.uleb128 0x10
	.asciz	"pomega"
	.byte	0xb
	.byte	0x90
	.4byte	0x49e
	.byte	0x2
	.byte	0x7e
	.sleb128 22
	.uleb128 0x10
	.asciz	"temp"
	.byte	0xb
	.byte	0x94
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 20
	.uleb128 0x10
	.asciz	"motor_A"
	.byte	0xb
	.byte	0x96
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 18
	.uleb128 0x10
	.asciz	"motor_B"
	.byte	0xb
	.byte	0x97
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 16
	.uleb128 0x10
	.asciz	"motor_C"
	.byte	0xb
	.byte	0x98
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 14
	.uleb128 0x10
	.asciz	"motor_D"
	.byte	0xb
	.byte	0x99
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 12
	.uleb128 0x10
	.asciz	"commanded_roll_body_frame"
	.byte	0xb
	.byte	0x9b
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 10
	.uleb128 0x10
	.asciz	"commanded_pitch_body_frame"
	.byte	0xb
	.byte	0x9c
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 8
	.uleb128 0x10
	.asciz	"long_accum"
	.byte	0xb
	.byte	0xa0
	.4byte	0x3b0
	.byte	0x2
	.byte	0x7e
	.sleb128 26
	.uleb128 0x10
	.asciz	"posKD"
	.byte	0xb
	.byte	0xa4
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 6
	.uleb128 0x11
	.4byte	.LBB2
	.4byte	.LBE2
	.uleb128 0x12
	.asciz	"omega_z"
	.byte	0xb
	.2byte	0x218
	.4byte	0x3b0
	.byte	0x2
	.byte	0x7e
	.sleb128 30
	.uleb128 0x12
	.asciz	"rotLong"
	.byte	0xb
	.2byte	0x21e
	.4byte	0xbf
	.byte	0x2
	.byte	0x7e
	.sleb128 2
	.uleb128 0x12
	.asciz	"rotWord"
	.byte	0xb
	.2byte	0x223
	.4byte	0xf7
	.byte	0x2
	.byte	0x7e
	.sleb128 0
	.uleb128 0x12
	.asciz	"rotAngle"
	.byte	0xb
	.2byte	0x224
	.4byte	0x3b0
	.byte	0x2
	.byte	0x7e
	.sleb128 34
	.uleb128 0x12
	.asciz	"lagAngle"
	.byte	0xb
	.2byte	0x22e
	.4byte	0x3b0
	.byte	0x2
	.byte	0x7e
	.sleb128 38
	.byte	0x0
	.byte	0x0
	.uleb128 0x13
	.asciz	"tail_light_off"
	.byte	0xc
	.byte	0x19
	.byte	0x1
	.4byte	.LFB5
	.4byte	.LFE5
	.byte	0x1
	.byte	0x5e
	.uleb128 0x13
	.asciz	"tail_light_on"
	.byte	0xc
	.byte	0x14
	.byte	0x1
	.4byte	.LFB4
	.4byte	.LFE4
	.byte	0x1
	.byte	0x5e
	.uleb128 0x14
	.asciz	"LATDbits"
	.byte	0x3
	.2byte	0x9b5
	.4byte	0x7ca
	.byte	0x1
	.byte	0x1
	.uleb128 0x15
	.4byte	0x2b2
	.uleb128 0x14
	.asciz	"LATEbits"
	.byte	0x3
	.2byte	0x9dc
	.4byte	0x7e2
	.byte	0x1
	.byte	0x1
	.uleb128 0x15
	.4byte	0x379
	.uleb128 0x16
	.4byte	0x7f2
	.4byte	0x120
	.uleb128 0x17
	.byte	0x0
	.uleb128 0x18
	.asciz	"udb_pwIn"
	.byte	0x8
	.byte	0x90
	.4byte	0x7e7
	.byte	0x1
	.byte	0x1
	.uleb128 0x16
	.4byte	0x80f
	.4byte	0x120
	.uleb128 0x17
	.byte	0x0
	.uleb128 0x18
	.asciz	"udb_pwTrim"
	.byte	0x8
	.byte	0x97
	.4byte	0x804
	.byte	0x1
	.byte	0x1
	.uleb128 0x16
	.4byte	0x82e
	.4byte	0xe8
	.uleb128 0x17
	.byte	0x0
	.uleb128 0x18
	.asciz	"udb_pwOut"
	.byte	0x8
	.byte	0x9d
	.4byte	0x823
	.byte	0x1
	.byte	0x1
	.uleb128 0x18
	.asciz	"udb_flags"
	.byte	0x8
	.byte	0xa1
	.4byte	0x4a4
	.byte	0x1
	.byte	0x1
	.uleb128 0x16
	.4byte	0x85f
	.4byte	0x48c
	.uleb128 0x17
	.byte	0x0
	.uleb128 0x18
	.asciz	"rmat"
	.byte	0xa
	.byte	0x60
	.4byte	0x854
	.byte	0x1
	.byte	0x1
	.uleb128 0x16
	.4byte	0x878
	.4byte	0x48c
	.uleb128 0x17
	.byte	0x0
	.uleb128 0x18
	.asciz	"accelEarth"
	.byte	0xa
	.byte	0x63
	.4byte	0x86d
	.byte	0x1
	.byte	0x1
	.uleb128 0x18
	.asciz	"didCalibrate"
	.byte	0xb
	.byte	0x1c
	.4byte	0x3d3
	.byte	0x1
	.byte	0x1
	.uleb128 0x18
	.asciz	"flight_mode"
	.byte	0xb
	.byte	0x1d
	.4byte	0xf7
	.byte	0x1
	.byte	0x1
	.uleb128 0x19
	.asciz	"current_flight_mode"
	.byte	0xb
	.byte	0x1e
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_current_flight_mode
	.uleb128 0x19
	.asciz	"motorsArmed"
	.byte	0xb
	.byte	0x1f
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_motorsArmed
	.uleb128 0x18
	.asciz	"IMUcmx"
	.byte	0xb
	.byte	0x21
	.4byte	0x3b0
	.byte	0x1
	.byte	0x1
	.uleb128 0x18
	.asciz	"IMUcmy"
	.byte	0xb
	.byte	0x22
	.4byte	0x3b0
	.byte	0x1
	.byte	0x1
	.uleb128 0x16
	.4byte	0x923
	.4byte	0x120
	.uleb128 0x1a
	.4byte	0x923
	.byte	0xe
	.byte	0x0
	.uleb128 0x4
	.4byte	.LASF0
	.byte	0x2
	.byte	0x7
	.uleb128 0x19
	.asciz	"pid_gains"
	.byte	0xb
	.byte	0x27
	.4byte	0x913
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pid_gains
	.uleb128 0x19
	.asciz	"roll_control"
	.byte	0xb
	.byte	0x29
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_roll_control
	.uleb128 0x19
	.asciz	"pitch_control"
	.byte	0xb
	.byte	0x2a
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pitch_control
	.uleb128 0x19
	.asciz	"rolladvanced"
	.byte	0xb
	.byte	0x2b
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rolladvanced
	.uleb128 0x19
	.asciz	"pitchadvanced"
	.byte	0xb
	.byte	0x2b
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pitchadvanced
	.uleb128 0x19
	.asciz	"lagBC"
	.byte	0xb
	.byte	0x2c
	.4byte	0xd9
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_lagBC
	.uleb128 0x19
	.asciz	"precessBC"
	.byte	0xb
	.byte	0x2c
	.4byte	0xd9
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_precessBC
	.uleb128 0x19
	.asciz	"yaw_control"
	.byte	0xb
	.byte	0x2d
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_yaw_control
	.uleb128 0x19
	.asciz	"pitch_step"
	.byte	0xb
	.byte	0x2e
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pitch_step
	.uleb128 0x19
	.asciz	"matrix_accum"
	.byte	0xb
	.byte	0x2f
	.4byte	0x4cd
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_matrix_accum
	.uleb128 0x19
	.asciz	"earth_yaw"
	.byte	0xb
	.byte	0x31
	.4byte	0x120
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_earth_yaw
	.uleb128 0x19
	.asciz	"desired_heading"
	.byte	0xb
	.byte	0x32
	.4byte	0x120
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_desired_heading
	.uleb128 0x19
	.asciz	"accel_feedback"
	.byte	0xb
	.byte	0x33
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_accel_feedback
	.uleb128 0x16
	.4byte	0xa8d
	.4byte	0xf7
	.uleb128 0x1a
	.4byte	0x923
	.byte	0x1
	.byte	0x0
	.uleb128 0x19
	.asciz	"rate_error_prev"
	.byte	0xb
	.byte	0x34
	.4byte	0xa7d
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_error_prev
	.uleb128 0x19
	.asciz	"rate_error_dot"
	.byte	0xb
	.byte	0x35
	.4byte	0xa7d
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_error_dot
	.uleb128 0x16
	.4byte	0xad8
	.4byte	0xf7
	.uleb128 0x1a
	.4byte	0x923
	.byte	0x4
	.byte	0x0
	.uleb128 0x19
	.asciz	"pwManual"
	.byte	0xb
	.byte	0x37
	.4byte	0xac8
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pwManual
	.uleb128 0x19
	.asciz	"commanded_roll"
	.byte	0xb
	.byte	0x38
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_commanded_roll
	.uleb128 0x19
	.asciz	"commanded_pitch"
	.byte	0xb
	.byte	0x39
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_commanded_pitch
	.uleb128 0x19
	.asciz	"commanded_yaw"
	.byte	0xb
	.byte	0x3a
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_commanded_yaw
	.uleb128 0x19
	.asciz	"roll_error"
	.byte	0xb
	.byte	0x3c
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_roll_error
	.uleb128 0x19
	.asciz	"pitch_error"
	.byte	0xb
	.byte	0x3c
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pitch_error
	.uleb128 0x19
	.asciz	"yaw_error"
	.byte	0xb
	.byte	0x3c
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_yaw_error
	.uleb128 0x16
	.4byte	0xba1
	.4byte	0xf7
	.uleb128 0x1a
	.4byte	0x923
	.byte	0x2
	.byte	0x0
	.uleb128 0x19
	.asciz	"rate_error"
	.byte	0xb
	.byte	0x3d
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_error
	.uleb128 0x19
	.asciz	"rate_desired_delta"
	.byte	0xb
	.byte	0x3e
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_desired_delta
	.uleb128 0x19
	.asciz	"rate_desired_prev"
	.byte	0xb
	.byte	0x3e
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_desired_prev
	.uleb128 0x19
	.asciz	"rate_desired"
	.byte	0xb
	.byte	0x3e
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_desired
	.uleb128 0x19
	.asciz	"rate_des_damping"
	.byte	0xb
	.byte	0x3e
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rate_des_damping
	.uleb128 0x19
	.asciz	"yaw_error_previous"
	.byte	0xb
	.byte	0x40
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_yaw_error_previous
	.uleb128 0x19
	.asciz	"roll_error_integral"
	.byte	0xb
	.byte	0x42
	.4byte	0x3b0
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_roll_error_integral
	.uleb128 0x19
	.asciz	"pitch_error_integral"
	.byte	0xb
	.byte	0x43
	.4byte	0x3b0
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pitch_error_integral
	.uleb128 0x19
	.asciz	"rrate_error_integral"
	.byte	0xb
	.byte	0x44
	.4byte	0x3b0
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_rrate_error_integral
	.uleb128 0x19
	.asciz	"prate_error_integral"
	.byte	0xb
	.byte	0x45
	.4byte	0x3b0
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_prate_error_integral
	.uleb128 0x19
	.asciz	"yaw_error_integral"
	.byte	0xb
	.byte	0x46
	.4byte	0x3b0
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_yaw_error_integral
	.uleb128 0x19
	.asciz	"poscmd_north"
	.byte	0xb
	.byte	0x48
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_poscmd_north
	.uleb128 0x19
	.asciz	"poscmd_east"
	.byte	0xb
	.byte	0x48
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_poscmd_east
	.uleb128 0x19
	.asciz	"pos_error"
	.byte	0xb
	.byte	0x49
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pos_error
	.uleb128 0x19
	.asciz	"pos_setpoint"
	.byte	0xb
	.byte	0x49
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pos_setpoint
	.uleb128 0x16
	.4byte	0xd7a
	.4byte	0x3b0
	.uleb128 0x1a
	.4byte	0x923
	.byte	0x2
	.byte	0x0
	.uleb128 0x19
	.asciz	"pos_prev"
	.byte	0xb
	.byte	0x4a
	.4byte	0xd6a
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pos_prev
	.uleb128 0x19
	.asciz	"pos_delta"
	.byte	0xb
	.byte	0x4a
	.4byte	0xd6a
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pos_delta
	.uleb128 0x19
	.asciz	"pos_perr"
	.byte	0xb
	.byte	0x4b
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pos_perr
	.uleb128 0x19
	.asciz	"pos_derr"
	.byte	0xb
	.byte	0x4b
	.4byte	0xb91
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_pos_derr
	.uleb128 0x19
	.asciz	"altHoldPrec"
	.byte	0xb
	.byte	0x4d
	.4byte	0x120
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_altHoldPrec
	.uleb128 0x19
	.asciz	"commanded_altitude"
	.byte	0xb
	.byte	0x4e
	.4byte	0x120
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_commanded_altitude
	.uleb128 0x19
	.asciz	"altitudePrec"
	.byte	0xb
	.byte	0x4f
	.4byte	0x120
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_altitudePrec
	.uleb128 0x19
	.asciz	"altitude_error"
	.byte	0xb
	.byte	0x50
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_altitude_error
	.uleb128 0x19
	.asciz	"altitude_control"
	.byte	0xb
	.byte	0x51
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_altitude_control
	.uleb128 0x19
	.asciz	"vitesse"
	.byte	0xb
	.byte	0x52
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_vitesse
	.uleb128 0x19
	.asciz	"altitude_error_integral"
	.byte	0xb
	.byte	0x53
	.4byte	0xf7
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_altitude_error_integral
	.uleb128 0x18
	.asciz	"altitude"
	.byte	0xb
	.byte	0x54
	.4byte	0x120
	.byte	0x1
	.byte	0x1
	.uleb128 0x18
	.asciz	"primary_voltage"
	.byte	0xb
	.byte	0x7e
	.4byte	0x3b0
	.byte	0x1
	.byte	0x1
	.uleb128 0x18
	.asciz	"lowVoltageWarning"
	.byte	0xb
	.byte	0x7f
	.4byte	0x120
	.byte	0x1
	.byte	0x1
	.uleb128 0x19
	.asciz	"throttle_limit"
	.byte	0xb
	.byte	0x81
	.4byte	0x120
	.byte	0x1
	.byte	0x5
	.byte	0x3
	.4byte	_throttle_limit
	.uleb128 0x16
	.4byte	0xf13
	.4byte	0x48c
	.uleb128 0x17
	.byte	0x0
	.uleb128 0x18
	.asciz	"omega"
	.byte	0xb
	.byte	0x82
	.4byte	0xf08
	.byte	0x1
	.byte	0x1
	.byte	0x0
	.section	.debug_abbrev,info
	.uleb128 0x1
	.uleb128 0x11
	.byte	0x1
	.uleb128 0x10
	.uleb128 0x6
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x25
	.uleb128 0x8
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x1b
	.uleb128 0x8
	.byte	0x0
	.byte	0x0
	.uleb128 0x2
	.uleb128 0x24
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3e
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x16
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x4
	.uleb128 0x24
	.byte	0x0
	.uleb128 0x3
	.uleb128 0xe
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3e
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x5
	.uleb128 0x13
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.byte	0x0
	.byte	0x0
	.uleb128 0x6
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0xd
	.uleb128 0xb
	.uleb128 0xc
	.uleb128 0xb
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x7
	.uleb128 0x16
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x8
	.uleb128 0x13
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0x9
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xa
	.uleb128 0x17
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.uleb128 0xb
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xc
	.uleb128 0xd
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0xd
	.uleb128 0xb
	.uleb128 0xc
	.uleb128 0xb
	.uleb128 0x38
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xd
	.uleb128 0xf
	.byte	0x0
	.uleb128 0xb
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0xe
	.uleb128 0x2e
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0xf
	.uleb128 0x5
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x10
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x11
	.uleb128 0xb
	.byte	0x1
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.byte	0x0
	.byte	0x0
	.uleb128 0x12
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x13
	.uleb128 0x2e
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x27
	.uleb128 0xc
	.uleb128 0x11
	.uleb128 0x1
	.uleb128 0x12
	.uleb128 0x1
	.uleb128 0x40
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x14
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0x5
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3c
	.uleb128 0xc
	.byte	0x0
	.byte	0x0
	.uleb128 0x15
	.uleb128 0x35
	.byte	0x0
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x16
	.uleb128 0x1
	.byte	0x1
	.uleb128 0x1
	.uleb128 0x13
	.uleb128 0x49
	.uleb128 0x13
	.byte	0x0
	.byte	0x0
	.uleb128 0x17
	.uleb128 0x21
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.uleb128 0x18
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x3c
	.uleb128 0xc
	.byte	0x0
	.byte	0x0
	.uleb128 0x19
	.uleb128 0x34
	.byte	0x0
	.uleb128 0x3
	.uleb128 0x8
	.uleb128 0x3a
	.uleb128 0xb
	.uleb128 0x3b
	.uleb128 0xb
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x3f
	.uleb128 0xc
	.uleb128 0x2
	.uleb128 0xa
	.byte	0x0
	.byte	0x0
	.uleb128 0x1a
	.uleb128 0x21
	.byte	0x0
	.uleb128 0x49
	.uleb128 0x13
	.uleb128 0x2f
	.uleb128 0xb
	.byte	0x0
	.byte	0x0
	.byte	0x0
	.section	.debug_pubnames,info
	.4byte	0x3e9
	.2byte	0x2
	.4byte	.Ldebug_info0
	.4byte	0xf23
	.4byte	0x502
	.asciz	"rotate2D"
	.4byte	0x55a
	.asciz	"deadBand"
	.4byte	0x596
	.asciz	"magClamp"
	.4byte	0x5ce
	.asciz	"magClamp32"
	.4byte	0x60e
	.asciz	"motorCntrl"
	.4byte	0x8b7
	.asciz	"current_flight_mode"
	.4byte	0x8d9
	.asciz	"motorsArmed"
	.4byte	0x92a
	.asciz	"pid_gains"
	.4byte	0x942
	.asciz	"roll_control"
	.4byte	0x95d
	.asciz	"pitch_control"
	.4byte	0x979
	.asciz	"rolladvanced"
	.4byte	0x994
	.asciz	"pitchadvanced"
	.4byte	0x9b0
	.asciz	"lagBC"
	.4byte	0x9c4
	.asciz	"precessBC"
	.4byte	0x9dc
	.asciz	"yaw_control"
	.4byte	0x9f6
	.asciz	"pitch_step"
	.4byte	0xa0f
	.asciz	"matrix_accum"
	.4byte	0xa2a
	.asciz	"earth_yaw"
	.4byte	0xa42
	.asciz	"desired_heading"
	.4byte	0xa60
	.asciz	"accel_feedback"
	.4byte	0xa8d
	.asciz	"rate_error_prev"
	.4byte	0xaab
	.asciz	"rate_error_dot"
	.4byte	0xad8
	.asciz	"pwManual"
	.4byte	0xaef
	.asciz	"commanded_roll"
	.4byte	0xb0c
	.asciz	"commanded_pitch"
	.4byte	0xb2a
	.asciz	"commanded_yaw"
	.4byte	0xb46
	.asciz	"roll_error"
	.4byte	0xb5f
	.asciz	"pitch_error"
	.4byte	0xb79
	.asciz	"yaw_error"
	.4byte	0xba1
	.asciz	"rate_error"
	.4byte	0xbba
	.asciz	"rate_desired_delta"
	.4byte	0xbdb
	.asciz	"rate_desired_prev"
	.4byte	0xbfb
	.asciz	"rate_desired"
	.4byte	0xc16
	.asciz	"rate_des_damping"
	.4byte	0xc35
	.asciz	"yaw_error_previous"
	.4byte	0xc56
	.asciz	"roll_error_integral"
	.4byte	0xc78
	.asciz	"pitch_error_integral"
	.4byte	0xc9b
	.asciz	"rrate_error_integral"
	.4byte	0xcbe
	.asciz	"prate_error_integral"
	.4byte	0xce1
	.asciz	"yaw_error_integral"
	.4byte	0xd02
	.asciz	"poscmd_north"
	.4byte	0xd1d
	.asciz	"poscmd_east"
	.4byte	0xd37
	.asciz	"pos_error"
	.4byte	0xd4f
	.asciz	"pos_setpoint"
	.4byte	0xd7a
	.asciz	"pos_prev"
	.4byte	0xd91
	.asciz	"pos_delta"
	.4byte	0xda9
	.asciz	"pos_perr"
	.4byte	0xdc0
	.asciz	"pos_derr"
	.4byte	0xdd7
	.asciz	"altHoldPrec"
	.4byte	0xdf1
	.asciz	"commanded_altitude"
	.4byte	0xe12
	.asciz	"altitudePrec"
	.4byte	0xe2d
	.asciz	"altitude_error"
	.4byte	0xe4a
	.asciz	"altitude_control"
	.4byte	0xe69
	.asciz	"vitesse"
	.4byte	0xe7f
	.asciz	"altitude_error_integral"
	.4byte	0xeeb
	.asciz	"throttle_limit"
	.4byte	0x0
	.section	.debug_aranges,info
	.4byte	0x1c
	.2byte	0x2
	.4byte	.Ldebug_info0
	.byte	0x4
	.byte	0x0
	.2byte	0x0
	.2byte	0x0
	.4byte	.Ltext0
	.4byte	.Letext0-.Ltext0
	.4byte	0x0
	.4byte	0x0
	.section	.debug_str,info
.LASF0:
	.asciz	"unsigned int"

	.section __c30_signature, info, data
	.word 0x0001
	.word 0x0000
	.word 0x0000

	.set ___PA___,0
	.end
